mirror of https://github.com/ArduPilot/ardupilot
Copter: rename RTLAltType enumeration entries
removes redundant namespacing as this is enum class
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2e1af82044
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@ -179,7 +179,7 @@ bool AP_Arming_Copter::terrain_database_required() const
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}
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}
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if (copter.wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE &&
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if (copter.wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE &&
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copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
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copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::TERRAIN) {
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return true;
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return true;
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}
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}
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return AP_Arming::terrain_database_required();
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return AP_Arming::terrain_database_required();
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@ -252,7 +252,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
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// checks when using range finder for RTL
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// checks when using range finder for RTL
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#if MODE_RTL_ENABLED == ENABLED
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#if MODE_RTL_ENABLED == ENABLED
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if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
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if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::TERRAIN) {
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// get terrain source from wpnav
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// get terrain source from wpnav
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const char *failure_template = "RTL_ALT_TYPE is above-terrain but %s";
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const char *failure_template = "RTL_ALT_TYPE is above-terrain but %s";
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switch (copter.wp_nav->get_terrain_source()) {
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switch (copter.wp_nav->get_terrain_source()) {
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@ -1420,8 +1420,8 @@ public:
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// enum for RTL_ALT_TYPE parameter
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// enum for RTL_ALT_TYPE parameter
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enum class RTLAltType : int8_t {
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enum class RTLAltType : int8_t {
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RTL_ALTTYPE_RELATIVE = 0,
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RELATIVE = 0,
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RTL_ALTTYPE_TERRAIN = 1
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TERRAIN = 1
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};
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};
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ModeRTL::RTLAltType get_alt_type() const;
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ModeRTL::RTLAltType get_alt_type() const;
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@ -52,11 +52,11 @@ ModeRTL::RTLAltType ModeRTL::get_alt_type() const
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{
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{
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// sanity check parameter
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// sanity check parameter
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switch ((ModeRTL::RTLAltType)g.rtl_alt_type) {
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switch ((ModeRTL::RTLAltType)g.rtl_alt_type) {
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case RTLAltType::RTL_ALTTYPE_RELATIVE ... RTLAltType::RTL_ALTTYPE_TERRAIN:
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case RTLAltType::RELATIVE ... RTLAltType::TERRAIN:
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return g.rtl_alt_type;
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return g.rtl_alt_type;
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}
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}
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// user has an invalid value
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// user has an invalid value
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return RTLAltType::RTL_ALTTYPE_RELATIVE;
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return RTLAltType::RELATIVE;
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}
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}
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// rtl_run - runs the return-to-launch controller
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// rtl_run - runs the return-to-launch controller
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@ -410,7 +410,7 @@ void ModeRTL::compute_return_target()
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// determine altitude type of return journey (alt-above-home, alt-above-terrain using range finder or alt-above-terrain using terrain database)
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// determine altitude type of return journey (alt-above-home, alt-above-terrain using range finder or alt-above-terrain using terrain database)
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ReturnTargetAltType alt_type = ReturnTargetAltType::RELATIVE;
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ReturnTargetAltType alt_type = ReturnTargetAltType::RELATIVE;
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if (terrain_following_allowed && (get_alt_type() == RTLAltType::RTL_ALTTYPE_TERRAIN)) {
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if (terrain_following_allowed && (get_alt_type() == RTLAltType::TERRAIN)) {
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// convert RTL_ALT_TYPE and WPNAV_RFNG_USE parameters to ReturnTargetAltType
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// convert RTL_ALT_TYPE and WPNAV_RFNG_USE parameters to ReturnTargetAltType
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switch (wp_nav->get_terrain_source()) {
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switch (wp_nav->get_terrain_source()) {
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case AC_WPNav::TerrainSource::TERRAIN_UNAVAILABLE:
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case AC_WPNav::TerrainSource::TERRAIN_UNAVAILABLE:
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